NANOOS Jun23 * SG236 * Dive index * Mission links * Dive 334 * Raw log
prev dive * next dive * dive
• Previous call tries 2 • 126.32 of 575.00 AH used of 24V (78.03% remains)
• Surface angle -66.6 deg, depth 1.73 m • Intended pitch -17.1 deg, speed -8.049 cm/s
• VBD pumped to 474.78 (SM_CC=475)
• GPS1 time: 123 s
• GPS2 time: 3 s • Transponder ping count: 0
• Time spent turning 0 s

Statistics * Plot
t(s) depth(m) w(cm/s) num pts t(s) GC phase pitch roll VBD pit rol VBD volts
ctl(cm) t(s) A pos(AD) rate t(s) A pos(AD) rate ctl(cc) t(s) A pos(AD) rate eff r e r e r e pitrollvbd flags
5 end surface: CONTROL_FINISHED_OK
5 begin dive
9.07 - - - 65.73 VBD -1.56 - - 186.69 - - - 2156.50 - -107.06 55.21 0.005 2315.47 - - - - - - - - - - 15.53
66.17 3.24 -3.36 11 123.83 -1.56 16.41 0.235 1960.88 108.1 3.82 0.105 686.06 -384.9 -107.06 27.04 0.006 3458.78 42.3 -3.792 - - - - - - 15.56 15.48 15.57
192.38 30.16 -19.58 35 198.91 roll -1.56 - - 1961.25 - 3.36 0.038 2135.75 431.5 -107.06 - - 3460.06 - - - - - - - - - 15.80 -
382.43 58.22 -12.41 73 388.90 roll -1.56 - - 1960.81 - 3.12 0.088 3362.69 393.2 -107.06 - - 3460.75 - - - - - - - - - 15.82 -
532.43 77.86 -12.54 103 539.15 roll -1.56 - - 1961.06 - 3.01 0.035 2063.44 -431.6 -107.06 - - 3460.34 - - - - - - - - - 15.87 -
722.73 98.65 -11.55 141 727.21 no move -1.56 - - 1961.69 - - - 2063.19 - -107.06 - - 3461.12 - - - - - - - - - - -
907.74 120.98 -11.33 161 913.79 roll -1.56 - - 1962.00 - 3.54 0.103 686.94 -388.8 -107.06 - - 3464.25 - - - - - - - - - 15.86 -
992.00 130.60 -11.47 178 999.45 roll -1.56 - - 1961.38 - 3.33 0.038 2140.75 436.6 -107.06 - - 3463.97 - - - - - - - - - 15.89 -
1307.77 158.50 -9.12 210 1315.21 roll -1.56 - - 1961.50 - 3.71 0.099 686.75 -391.9 -107.06 - - 3462.72 - - - - - - - - - 15.88 -
1383.82 166.84 -11.41 225 1389.78 roll -1.56 - - 1960.75 - 3.33 0.039 2139.81 436.4 -107.06 - - 3464.00 - - - - - - - - - 15.98 -
1693.92 195.52 -8.60 257 1700.99 roll -1.56 - - 1961.38 - 3.68 0.099 686.75 -394.9 -107.06 - - 3465.56 - - - - - - - - - 15.95 -
1733.71 199.45 -9.87 265 1741.18 roll -1.56 - - 1960.50 - 3.33 0.039 2138.50 436.0 -107.06 - - 3464.19 - - - - - - - - - 15.99 -
2049.49 230.22 -9.75 297 2056.93 roll -1.56 - - 1961.44 - 3.71 0.100 686.69 -391.3 -107.06 - - 3462.19 - - - - - - - - - 15.95 -
2079.76 233.58 -10.65 303 2087.23 roll -1.56 - - 1961.25 - 3.32 0.039 2139.06 437.5 -107.06 - - 3463.59 - - - - - - - - - 16.01 -
2395.54 262.95 -9.13 335 2397.11 no move -1.56 - - 1960.88 - - - 2138.50 - -107.06 - - 3462.69 - - - - - - - - - - -
2705.56 292.21 -9.41 366 2712.71 roll -1.56 - - 1960.81 - 3.70 0.102 686.69 -392.4 -107.06 - - 3462.41 - - - - - - - - - 16.00 -
2775.43 299.73 -10.60 380 2782.89 roll -1.56 - - 1961.00 - 3.33 0.041 2137.62 435.7 -107.06 - - 3463.28 - - - - - - - - - 16.02 -
3091.22 331.78 -10.15 412 3092.79 no move -1.56 - - 1961.44 - - - 2137.69 - -107.06 - - 3461.44 - - - - - - - - - - -
3401.24 362.20 -9.70 443 3402.81 no move -1.56 - - 1960.88 - - - 2137.50 - -107.06 - - 3460.38 - - - - - - - - - - -
3711.26 391.67 -9.34 474 3718.45 roll -1.56 - - 1960.88 - 3.71 0.104 687.56 -390.8 -107.06 - - 3461.75 - - - - - - - - - 15.95 -
3776.94 398.54 -10.51 487 3782.92 roll -1.56 - - 1961.38 - 3.33 0.043 2135.62 434.9 -107.06 - - 3460.94 - - - - - - - - - 16.05 -
4086.96 426.84 -8.73 519 4088.53 no move -1.56 - - 1961.25 - - - 2136.19 - -107.06 - - 3458.41 - - - - - - - - - - -
4396.98 452.00 -7.81 550 4404.18 roll -1.56 - - 1961.56 - 3.73 0.104 687.81 -388.3 -107.06 - - 3457.34 - - - - - - - - - 15.97 -
4446.90 456.61 -8.93 560 4454.38 roll -1.56 - - 1961.38 - 3.34 0.041 2137.12 433.9 -107.06 - - 3458.41 - - - - - - - - - 16.03 -
4762.68 482.07 -8.17 592 4770.12 roll -1.56 - - 1960.69 - 3.74 0.104 687.94 -387.5 -107.06 - - 3455.69 - - - - - - - - - 15.99 -
4818.73 487.28 -9.54 603 4824.68 roll -1.56 - - 1961.00 - 3.34 0.041 2137.50 434.0 -107.06 - - 3456.47 - - - - - - - - - 16.06 -
5128.74 514.06 -8.86 635 5130.32 no move -1.56 - - 1960.88 - - - 2137.56 - -107.06 - - 3453.47 - - - - - - - - - - -
5438.77 542.33 -8.97 666 5445.96 roll -1.56 - - 1960.81 - 3.73 0.105 687.50 -388.8 -107.06 - - 3454.91 - - - - - - - - - 15.99 -
5514.45 550.08 -9.93 681 5520.44 roll -1.56 - - 1961.19 - 3.33 0.041 2135.69 434.9 -107.06 - - 3454.53 - - - - - - - - - 16.06 -
5824.48 578.03 -8.84 713 5831.68 roll -1.56 - - 1960.31 - 3.73 0.103 687.56 -388.2 -107.06 - - 3452.34 - - - - - - - - - 15.99 -
5910.29 586.73 -10.17 730 5916.25 roll -1.56 - - 1960.38 - 3.32 0.040 2134.44 435.8 -107.06 - - 3453.28 - - - - - - - - - 16.06 -
6220.31 614.66 -8.96 762 6227.51 roll -1.56 - - 1960.56 - 3.74 0.103 686.50 -387.1 -107.06 - - 3450.97 - - - - - - - - - 15.99 -
6296.00 622.31 -10.30 777 6301.95 roll -1.56 - - 1960.88 - 3.33 0.040 2136.00 435.3 -107.06 - - 3452.47 - - - - - - - - - 16.05 -
6606.04 649.50 -8.60 809 6613.25 roll -1.56 - - 1960.88 - 3.76 0.103 686.75 -385.4 -107.06 - - 3452.62 - - - - - - - - - 15.99 -
6671.85 655.59 -9.57 822 6677.84 roll -1.56 - - 1960.75 - 3.35 0.040 2133.56 431.9 -107.06 - - 3452.09 - - - - - - - - - 16.04 -
6981.88 680.39 -7.93 854 6989.06 roll -1.56 - - 1961.12 - 3.76 0.103 687.62 -384.6 -107.06 - - 3452.12 - - - - - - - - - 15.98 -
7021.79 684.07 -9.09 862 7029.30 roll -1.56 - - 1961.50 - 3.34 0.040 2136.00 433.6 -107.06 - - 3450.97 - - - - - - - - - 16.04 -
7337.58 708.47 -8.24 894 7344.77 roll -1.56 - - 1960.44 - 3.78 0.104 687.62 -383.2 -107.06 - - 3448.28 - - - - - - - - - 15.97 -
7413.38 715.07 -8.79 909 7419.33 roll -1.56 - - 1961.12 - 3.36 0.040 2136.00 431.1 -107.06 - - 3449.00 - - - - - - - - - 16.05 -
7723.42 737.95 -6.79 941 7724.99 no move -1.56 - - 1960.88 - - - 2136.19 - -107.06 - - 3447.59 - - - - - - - - - - -
8033.44 759.88 -7.12 972 8040.82 roll -1.56 - - 1961.25 - 3.79 0.105 686.81 -382.4 -107.06 - - 3446.53 - - - - - - - - - 15.96 -
8143.74 768.93 -8.48 994 8151.22 roll -1.56 - - 1961.06 - 3.37 0.040 2134.25 429.5 -107.06 - - 3448.41 - - - - - - - - - 16.03 -
8459.53 789.93 -6.57 1026 8466.73 roll -1.56 - - 1961.19 - 3.77 0.105 686.44 -384.0 -107.06 - - 3447.00 - - - - - - - - - 15.96 -
8499.45 792.80 -6.95 1034 8506.93 roll -1.56 - - 1961.00 - 3.36 0.040 2134.50 431.0 -107.06 - - 3447.25 - - - - - - - - - 16.04 -
8815.25 813.18 -6.36 1066 8822.70 roll -1.56 - - 1960.19 - 3.78 0.106 686.56 -383.1 -107.06 - - 3447.16 - - - - - - - - - 15.97 -
8871.31 817.55 -7.58 1077 8877.26 roll -1.56 - - 1960.75 - 3.34 0.041 2135.06 433.7 -107.06 - - 3446.31 - - - - - - - - - 15.95 -
9181.34 839.99 -7.40 1109 9188.55 roll -1.56 - - 1959.62 - 3.78 0.105 686.19 -383.3 -107.06 - - 3445.62 - - - - - - - - - 15.96 -
9261.28 847.27 -9.17 1125 9268.79 roll -1.56 - - 1960.81 - 3.37 0.041 2133.94 429.6 -107.06 - - 3445.25 - - - - - - - - - 16.02 -
9577.09 872.93 -8.31 1157 9584.55 roll -1.56 - - 1960.56 - 3.77 0.105 686.44 -384.0 -107.06 - - 3445.41 - - - - - - - - - 15.96 -
9643.15 879.06 -9.31 1170 9649.11 roll -1.56 - - 1960.88 - 3.35 0.041 2134.00 432.1 -107.06 - - 3444.88 - - - - - - - - - 16.03 -
9953.17 904.20 -8.32 1202 9960.38 roll -1.56 - - 1960.94 - 3.76 0.105 686.44 -385.0 -107.06 - - 3444.88 - - - - - - - - - 15.95 -
10003.10 908.66 -8.56 1212 10010.61 roll -1.56 - - 1961.19 - 3.35 0.041 2133.75 432.0 -107.06 - - 3446.09 - - - - - - - - - 16.01 -
10318.90 932.66 -7.32 1244 10320.47 no move -1.56 - - 1960.62 - - - 2133.62 - -107.06 - - 3443.19 - - - - - - - - - - -
10628.93 956.83 -7.97 1275 10636.13 roll -1.56 - - 1960.69 - 3.79 0.107 686.31 -381.9 -107.06 - - 3442.91 - - - - - - - - - 15.94 -
10704.73 963.85 -9.05 1290 10710.69 roll -1.56 - - 1961.06 - 3.38 0.042 2134.12 428.3 -107.06 - - 3443.81 - - - - - - - - - 16.03 -
11014.77 989.15 -8.48 1322 11021.97 roll -1.56 - - 1960.38 - 3.78 0.106 686.56 -383.0 -107.06 - - 3442.97 - - - - - - - - - 15.94 -
11024 end dive: TARGET_DEPTH_EXCEEDED
11024 begin apogee
11031.17 990.03 -8.64 1324 11124.96 -0.42 2.47 0.114 2240.25 113.3 0.12 0.199 2111.88 11877.7 - 85.67 2.231 3017.22 -5.0 0.366 - - - - - - 15.83 15.51 11.58
11130 end apogee: CONTROL_FINISHED_OK
11130 begin climb
11133.35 992.41 - 1333 11246.43 1.56 3.89 0.057 2729.62 125.8 3.31 0.092 3362.94 378.0 107.06 96.43 2.150 2582.62 -4.5 0.345 - - - - - - 15.64 15.32 12.61
11335.03 980.25 10.32 1371 11340.80 done 1.56 - - 2728.81 - 2.96 0.037 2113.62 -422.1 107.06 - - 2576.66 - - - - - - - - - 15.66 -
11645.07 949.87 9.89 1403 11650.96 done 1.56 - - 2729.12 - 3.18 0.088 3363.62 393.1 107.06 - - 2570.16 - - - - - - - - - 15.82 -
11835.12 929.25 10.46 1441 11840.88 done 1.56 - - 2728.25 - 2.92 0.038 2115.56 -427.4 107.06 - - 2569.41 - - - - - - - - - 15.88 -
12145.16 900.03 8.89 1473 12151.03 done 1.56 - - 2729.38 - 3.18 0.087 3362.81 392.2 107.06 - - 2563.75 - - - - - - - - - 15.92 -
12309.44 883.95 10.18 1506 12316.72 done 1.56 - - 2729.25 - 2.90 0.038 2116.25 -429.8 107.06 - - 2563.66 - - - - - - - - - 15.95 -
12625.24 855.60 9.08 1538 12631.14 done 1.56 - - 2729.06 - 3.19 0.087 3363.06 390.8 107.06 - - 2565.41 - - - - - - - - - 15.97 -
12749.51 842.85 10.31 1563 12756.78 done 1.56 - - 2729.50 - 2.90 0.038 2116.81 -429.7 107.06 - - 2564.06 - - - - - - - - - 16.00 -
13065.29 814.34 8.75 1595 13071.41 done 1.56 - - 2729.12 - 3.18 0.087 3361.62 391.4 107.06 - - 2562.31 - - - - - - - - - 15.98 -
13195.33 802.04 9.20 1621 13201.04 done 1.56 - - 2729.19 - 2.90 0.037 2114.75 -430.0 107.06 - - 2561.03 - - - - - - - - - 16.00 -
13505.37 777.42 7.94 1653 13511.23 done 1.56 - - 2729.50 - 3.18 0.087 3356.12 390.4 107.06 - - 2562.66 - - - - - - - - - 15.99 -
13655.41 764.11 8.66 1683 13661.16 done 1.56 - - 2729.50 - 2.90 0.038 2115.69 -427.7 107.06 - - 2560.72 - - - - - - - - - 16.02 -
13965.43 740.28 7.74 1715 13971.32 done 1.56 - - 2729.06 - 3.17 0.086 3361.88 393.1 107.06 - - 2562.53 - - - - - - - - - 16.00 -
14125.48 726.52 8.54 1747 14131.21 done 1.56 - - 2728.88 - 2.89 0.037 2115.81 -431.2 107.06 - - 2560.22 - - - - - - - - - 16.01 -
14435.50 702.96 7.79 1779 14441.38 done 1.56 - - 2728.56 - 3.17 0.087 3361.12 392.8 107.06 - - 2559.81 - - - - - - - - - 16.01 -
14509.76 696.30 8.83 1794 14517.00 done 1.56 - - 2728.69 - 2.90 0.038 2113.50 -430.2 107.06 - - 2559.44 - - - - - - - - - 16.02 -
14825.55 670.12 8.55 1826 14831.44 done 1.56 - - 2729.19 - 3.18 0.086 3365.69 393.8 107.06 - - 2558.94 - - - - - - - - - 16.00 -
14945.58 659.34 9.05 1850 14951.30 done 1.56 - - 2729.25 - 2.88 0.037 2113.19 -434.9 107.06 - - 2559.00 - - - - - - - - - 16.02 -
15255.62 634.16 8.27 1882 15261.49 done 1.56 - - 2730.00 - 3.18 0.085 3360.62 392.3 107.06 - - 2558.59 - - - - - - - - - 16.00 -
15335.64 626.94 8.87 1898 15341.39 done 1.56 - - 2729.00 - 2.88 0.037 2112.25 -433.5 107.06 - - 2558.78 - - - - - - - - - 16.02 -
15645.72 603.91 7.10 1930 15647.29 VBD 1.59 - - 2729.44 - - - 2112.44 - 107.06 - - 2557.31 - - - - - - - - - - -
15955.75 582.58 6.70 1961 15962.88 done 1.63 - - 2729.06 - 3.64 0.103 687.44 -391.5 107.06 - - 2555.12 - - - - - - - - - 15.95 -
16045.62 575.46 8.10 1979 16053.14 done 1.63 - - 2729.44 - 3.49 0.044 2183.06 428.5 107.06 - - 2556.84 - - - - - - - - - 16.01 -
16361.68 553.84 6.92 2011 16363.44 1.67 0.11 0.083 2754.06 223.8 - - 2183.44 - 107.06 - - 2555.97 - - - - - - - - 16.10 - -
16671.38 530.95 7.60 2042 16678.68 done 1.67 - - 2754.12 - 3.85 0.098 686.56 -388.8 107.06 - - 2556.62 - - - - - - - - - 15.96 -
16741.40 524.72 8.82 2056 16749.17 done 1.67 - - 2753.88 - 3.49 0.044 2184.44 429.2 107.06 - - 2555.56 - - - - - - - - - 16.01 -
17057.22 500.48 7.34 2088 17062.97 done 1.69 - - 2754.38 - 2.99 0.088 3362.69 394.1 107.06 - - 2556.16 - - - - - - - - - 15.99 -
17207.21 487.97 8.29 2118 17212.98 done 1.69 - - 2754.56 - 2.90 0.037 2112.88 -431.0 107.06 - - 2558.56 - - - - - - - - - 15.98 -
17517.28 463.68 7.46 2150 17524.42 done 1.71 - - 2754.25 - 3.69 0.101 687.19 -386.4 107.06 - - 2557.31 - - - - - - - - - 15.89 -
17622.89 454.96 8.46 2171 17628.92 done 1.71 - - 2754.38 - 3.48 0.044 2184.88 430.4 107.06 - - 2555.31 - - - - - - - - - 16.00 -
17932.95 433.70 6.64 2203 17938.96 done 1.75 - - 2753.62 - 2.99 0.089 3360.88 393.3 107.06 - - 2555.50 - - - - - - - - - 15.98 -
18052.96 425.05 7.24 2227 18058.79 1.77 0.12 0.081 2781.50 232.3 2.90 0.036 2112.56 -430.5 107.06 - - 2556.12 - - - - - - - - 15.97 16.01 -
18363.21 405.69 6.01 2259 18368.81 done 1.83 - - 2781.00 - 3.19 0.084 3363.31 392.1 107.06 - - 2557.28 - - - - - - - - - 15.98 -
18412.99 402.40 6.58 2269 18418.82 1.88 0.12 0.074 2807.12 217.7 2.90 0.037 2112.69 -431.2 107.06 - - 2555.97 - - - - - - - - 16.02 16.01 -
18723.01 383.84 5.85 2301 18730.17 done 1.94 - - 2807.25 - 3.69 0.100 686.62 -386.5 107.06 - - 2556.16 - - - - - - - - - 15.92 -
18858.83 374.77 6.84 2328 18866.00 1.98 0.09 0.091 2830.06 253.4 3.51 0.043 2185.19 426.9 107.06 - - 2555.38 - - - - - - - - 15.96 16.01 -
19173.85 354.85 6.01 2360 19175.42 VBD 2.04 - - 2830.12 - - - 2184.19 - 107.06 - - 2554.53 - - - - - - - - - - -
19483.86 337.48 5.32 2391 19485.67 2.12 0.20 0.054 2865.88 178.8 - - 2185.06 - 107.06 - - 2554.75 - - - - - - - - 16.09 - -
19793.88 320.43 5.39 2422 19795.46 VBD 2.20 - - 2865.44 - - - 2184.81 - 107.06 - - 2554.84 - - - - - - - - - - -
20103.89 306.06 4.41 2453 20169.03 2.30 0.26 0.050 2908.38 165.2 3.92 0.099 686.06 -382.3 178.05 55.71 1.376 2293.62 -4.7 0.173 - - - - - - 16.09 15.79 11.83
20217.51 295.63 13.79 2475 20224.90 roll back 2.30 0.31 0.176 2890.62 -57.3 3.58 0.045 2181.38 417.7 178.05 - - 2286.19 - - - - - - - - 15.80 15.82 -
20532.52 254.29 12.77 2507 20538.38 done 2.30 - - 2890.94 - 3.05 0.088 3364.75 388.0 178.05 - - 2285.03 - - - - - - - - - 15.89 -
20636.78 240.39 13.23 2528 20644.06 done 2.30 - - 2890.62 - 2.93 0.037 2115.81 -426.3 178.05 - - 2282.16 - - - - - - - - - 15.84 -
20952.56 205.04 11.07 2560 20958.44 done 2.30 - - 2891.81 - 3.17 0.085 3360.94 392.8 178.05 - - 2280.47 - - - - - - - - - 15.93 -
21036.83 194.75 12.49 2577 21044.11 done 2.30 - - 2890.88 - 2.91 0.037 2115.50 -428.0 178.05 - - 2279.78 - - - - - - - - - 15.86 -
21352.61 158.33 12.26 2609 21359.79 done 2.30 - - 2891.00 - 3.69 0.100 687.12 -387.1 178.05 - - 2281.03 - - - - - - - - - 15.86 -
21402.63 151.79 12.82 2619 21410.22 done 2.30 - - 2891.19 - 3.52 0.044 2183.62 425.1 178.05 - - 2279.22 - - - - - - - - - 15.94 -
21718.40 122.42 7.91 2651 21724.21 done 2.30 - - 2890.81 - 3.01 0.087 3364.50 392.3 178.05 - - 2278.12 - - - - - - - - - 15.87 -
21832.66 112.92 7.74 2674 21839.89 done 2.30 - - 2890.88 - 2.90 0.036 2113.44 -431.4 178.05 - - 2278.62 - - - - - - - - - 15.95 -
22143.49 97.84 4.25 2710 22234.85 2.39 0.31 0.048 2931.31 130.4 3.72 0.098 686.75 -383.5 252.33 79.33 1.068 1991.75 -3.6 0.055 - - - - - - 15.95 15.71 12.17
22463.49 70.97 7.73 2773 22470.58 roll 2.39 - - 2931.12 - 3.55 0.041 2184.50 421.9 252.33 - - 1986.81 - - - - - - - - - 15.77 -
22654.15 56.32 8.97 2811 22661.41 roll back 2.39 0.26 0.157 2915.62 -59.6 3.87 0.095 686.50 -387.1 252.33 - - 1984.34 - - - - - - - - 15.75 15.74 -
22890.12 43.58 3.17 2858 23002.63 2.52 0.37 0.043 2961.25 123.3 3.55 0.041 2191.88 424.1 347.60 99.79 1.001 1603.03 -3.8 0.028 - - - - - - 15.87 15.82 12.26
23186.24 25.86 3.90 2916 23280.76 2.62 0.12 0.070 2986.12 207.2 - - 2191.94 - 428.73 87.74 0.965 1272.28 -3.8 0.017 - - - - - - 15.85 - 12.48
23464.64 16.01 6.18 2971 23477.39 done 2.68 - - 2985.75 - 3.01 0.088 3361.62 388.6 428.73 6.81 0.689 1271.50 - - - - - - - - - 15.69 12.33
23621 end climb: SURFACE_DEPTH_REACHED
23621 begin surface coast
23641 end surface coast: CONTROL_FINISHED_OK
23641 begin surface
SM 1.70 - - - - 184.2 45.67 0.952 1084.5 23.6 21.17 0.050 1077.1 50.9 - 2.97 0.036 1091.9 366.6 -1.770 - - 12.30 15.87 15.84 -